Sintra day trip from Lisbon: Pena Palace, Cabo da Roca & Cascais

Choose your own monument and let the route take care of itself.

A guided day trip from Lisbon to Sintra, Cabo da Roca and Cascais with an expert local guide who drives. You pick which monument to visit inside (Pena Palace, Quinta da Regaleira, Sintra National Palace or Castle of the Moors), and see the rest from viewpoints and the road. Transport, timing and all the stops are arranged. A municipal fee of €3.77 per person may apply for Sintra access. Private tour options include pickup at your accommodation. The group option meets at Praça dos Restauradores in central Lisbon.

Step-by-step itinerary

Stops and time spent at each

1. Pena National Palace1h 30m
2. Castle of the Moorspassing by
3. Sintra National Palacepassing by
4. Quinta da Regaleirapassing by
5. Cabo da Roca40m

Explore Sintra and nearby coastal sights

• Pick up from accommodation in Lisbon
• Stop in Cascais fishing village
• Visit viewpoints around Sintra Natural Park
• Choose and visit one monument inside Sintra
• See Pena Palace from outside or inside
• View Castle of the Moors from outside
• View Sintra National Palace from outside
• View Quinta da Regaleira from outside
• Visit Cabo da Roca westernmost point
• Stroll in Cascais village streets
• Return to Lisbon accommodation

The experience

The day starts with a stop in Cascais, a fishing village that once drew the Portuguese royal family. From there, the route climbs into Sintra's hills, where you'll pass through natural parkland and pull over at viewpoints most visitors miss. You decide which single monument to enter: the colorful Pena Palace perched on the mountain, the fortress walls of Castle of the Moors next to it, the Sintra National Palace with its iconic chimneys in the town center, or Quinta da Regaleira with its mystery gardens and the famous Iniciatic Well. The guide recommends based on what fits the day. Trying more than one leaves no time for anything else.

After the monument, the route crosses the mountain toward Cabo da Roca, mainland Europe's westernmost point. The cliffs drop to the Atlantic here, and the stop is short enough to photograph but long enough to feel the scale of it. Then comes the drive along oceanfront roads past white sand beaches like Guincho before arriving in Cascais for free time to walk the cobbled streets and find local pastries in the village center.

Transport is in a comfortable minivan or minibus with the same guide driving and narrating. Private tour options include pickup at your accommodation (or a meeting point within a 5-minute walk if direct pickup isn't possible). The group option meets at the Praça dos Restauradores in Lisbon's center. If you choose Pena Palace and don't want the ticket included, you'll need to book the 10am time slot yourself before the tour starts. The whole day runs about eight hours.

What’s included

• Expert local guide who drives.
• transport in a comfortable minivan or minibus.
• pickup at your accommodation (private tour options only, or a nearby meeting point within 5 minutes' walk if direct pickup isn't possible).
• stops at Cascais, Sintra's viewpoints and monuments, Cabo da Roca and the oceanfront roads near Guincho.
• entry to your chosen monument (Pena Palace ticket included in two of the four options).

Options for this experience

4 options

Transport only, provided by RocaGuide in English, Spanish or Portuguese · 08:15Via Cabo da Roca, with a stop at the Sintra Historical Center for free time. Meeting at the end of the tour to return to Lisbon. Pickup is not included, so do not offer pickup at the accommodation. Meeting point: Praça dos Restauradores, nº 16, Lisbon. Pickup is included.

Private TourGuide in English, Spanish or Portuguese · 08:30Pena Palace tickets are not part of this private tour option. Pickup from accommodation is offered with this private tour option and is included.

Group option without pickupGuide in English, Spanish or Portuguese · 08:15This option has a meeting location for all participants, and pickup at accommodation is not included. Pena Palace ticket is included. For this group option with Pena included, do not offer pickup at the accommodation. Meeting point: Praça dos Restauradores, nº 16, Lisbon. The Pena Palace ticket is included, and pickup is included.

Private tour with Pena Palace includedGuide in English, Spanish or Portuguese · 08:30Private option with pickup included: pickup from accommodation is offered with this private tour option, which also includes Pena Palace tickets, and pickup is included.

You pick the guide language when booking.

You'll see the exact price of each option when you check availability.See dates and prices

Before you book

Days and timesEvery dayDepartures at 08:15 and 08:30

Book up to4h before

GroupPrivate

Live guideEnglish, Spanish and Portuguese

Meeting point and pickupHotel pickup is optional; you can also go straight to the meeting point. Ends back at the starting point.

Cancellation and refundsFree cancellation up to 24 h before the start. After that, no refund.It may be canceled due to bad weather. If that happens, you're offered another date or a refund.

Paid on site€ 3.77

Prices and times updated today

Good to know

Low physical effortStroller-friendlyInfant seats availablePublic transport nearby

Operated by Wonder Van

Is this one for you?Book the private tour with Pena Palace included if you want pickup from your hotel and one entry ticket sorted before you leave Lisbon. Choose the private tour without tickets if you prefer to buy your own monument entry or want to visit a different site than Pena. The group option works if you're comfortable meeting in central Lisbon and don't mind sharing the van with other travelers.

Traveler reviews

4.96★★★★★★★★★★

577 verified traveler reviews

5 ★562

4 ★9

3 ★4

2 ★1

1 ★1

Read all the reviews ›

Top questions

What languages is the tour guided in?

Live guide in English, Spanish and Portuguese.

What happens if it rains?

It may be canceled due to bad weather. If that happens, you're offered another date or a refund. Free cancellation up to 24 h before the start.

Can I pick which monument to visit, or is that decided for me?

You choose which one monument to enter: Pena Palace, Quinta da Regaleira, Sintra National Palace or Castle of the Moors. The guide gives recommendations to help you decide, and you'll see all of them from outside or viewpoints during the drive, so nothing is missed.

Does the price include entry to Pena Palace or the other monuments?

It depends on which option you book. The private tour with Pena Palace included covers that ticket. The private tour without tickets means you buy your own (book the 10am slot if you choose Pena). The group option also includes Pena Palace entry. A municipal fee of €3.77 per person may apply for access to Sintra itself. Your guide will confirm at the start.

What is Cabo da Roca actually like when you get there?

Cabo da Roca is the westernmost point of mainland Europe, where high cliffs meet the Atlantic. It's a short stop designed for photos and the view: dramatic enough to feel like a real-life postcard, but not a long hike or exploration.

Do I need to arrange my own transport to the meeting point, or does the tour pick me up?

Private tour options include pickup at your accommodation. If direct pickup isn't possible, the guide arranges a meeting point within a 5-minute walk. The group option meets at Praça dos Restauradores 16 in central Lisbon, so you'll need to get there on your own.

How much time do you actually spend in Cascais?

Cascais appears twice in the day, once at the start as a brief stop, then again at the end with free time to stroll the cobbled streets and explore the village at your own pace.

Can I bring young children, and will there be a car seat?

Yes, infants and small children can ride in a pram or stroller, and specialized infant seats are available. Let the operator know the children's ages when you book.